rollPitchStatus_e calculateRollPitchCenterStatus(void)
{
if (((rcData[PITCH] < (rxConfig()->midrc + AIRMODE_DEADBAND)) && (rcData[PITCH] > (rxConfig()->midrc -AIRMODE_DEADBAND)))
&& ((rcData[ROLL] < (rxConfig()->midrc + AIRMODE_DEADBAND)) && (rcData[ROLL] > (rxConfig()->midrc -AIRMODE_DEADBAND))))
return CENTERED;
return NOT_CENTERED;
}
throttleStatus_e calculateThrottleStatus(void)
{
const uint16_t deadband3d_throttle = rcControlsConfig()->deadband3d_throttle;
if (feature(FEATURE_3D) && (rcData[THROTTLE] > (rxConfig()->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig()->midrc + deadband3d_throttle)))
return THROTTLE_LOW;
else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->mincheck))
return THROTTLE_LOW;
return THROTTLE_HIGH;
}
throttleStatus_e calculateThrottleStatus(void)
{
if (feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLE)) {
if ((rcData[THROTTLE] > (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle) && rcData[THROTTLE] < (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)))
return THROTTLE_LOW;
} else {
if (rcData[THROTTLE] < rxConfig()->mincheck)
return THROTTLE_LOW;
}
return THROTTLE_HIGH;
}
throttleStatus_e calculateThrottleStatus(void)
{
if (feature(FEATURE_3D)) {
if (IS_RC_MODE_ACTIVE(BOX3DDISABLE) || isModeActivationConditionPresent(BOX3DONASWITCH)) {
if (rcData[THROTTLE] < rxConfig()->mincheck) {
return THROTTLE_LOW;
}
} else if ((rcData[THROTTLE] > (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle) && rcData[THROTTLE] < (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle))) {
return THROTTLE_LOW;
}
} else if (rcData[THROTTLE] < rxConfig()->mincheck) {
return THROTTLE_LOW;
}
return THROTTLE_HIGH;
}
static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS])
{
// Now add in the desired throttle, but keep in a range that doesn't clip adjusted
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (int i = 0; i < motorCount; i++) {
float motorOutput = motorOutputMin + (motorOutputRange * (motorOutputMixSign * motorMix[i] + throttle * currentMixer[i].throttle));
#ifdef USE_SERVOS
if (mixerIsTricopter()) {
motorOutput += mixerTricopterMotorCorrection(i);
}
#endif
if (failsafeIsActive()) {
if (isMotorProtocolDshot()) {
motorOutput = (motorOutput < motorRangeMin) ? disarmMotorOutput : motorOutput; // Prevent getting into special reserved range
}
motorOutput = constrain(motorOutput, disarmMotorOutput, motorRangeMax);
} else {
motorOutput = constrain(motorOutput, motorRangeMin, motorRangeMax);
}
// Motor stop handling
if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D) && !isAirmodeActive()) {
if (((rcData[THROTTLE]) < rxConfig()->mincheck)) {
motorOutput = disarmMotorOutput;
}
}
motor[i] = motorOutput;
}
// Disarmed mode
if (!ARMING_FLAG(ARMED)) {
for (int i = 0; i < motorCount; i++) {
motor[i] = motor_disarmed[i];
}
}
}
static void failsafeApplyControlInput(void)
{
for (int i = 0; i < 3; i++) {
rcData[i] = rxConfig()->midrc;
}
rcData[THROTTLE] = failsafeConfig()->failsafe_throttle;
}
void taskUpdateBattery(void)
{
static uint32_t vbatLastServiced = 0;
static uint32_t ibatLastServiced = 0;
if (feature(FEATURE_VBAT)) {
if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTime;
voltageMeterUpdate();
batteryUpdate();
}
}
if (feature(FEATURE_AMPERAGE_METER)) {
int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTime;
if (batteryConfig()->amperageMeterSource == AMPERAGE_METER_ADC) {
amperageUpdateMeter(ibatTimeSinceLastServiced);
} else {
throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig(), rcControlsConfig()->deadband3d_throttle);
bool throttleLowAndMotorStop = (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP));
int32_t throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
amperageUpdateVirtualMeter(ibatTimeSinceLastServiced, ARMING_FLAG(ARMED), throttleLowAndMotorStop, throttleOffset);
}
}
}
}
// All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
// DSHOT scaling is done to the actual dshot range
void initEscEndpoints(void)
{
// Can't use 'isMotorProtocolDshot()' here since motors haven't been initialised yet
switch (motorConfig()->dev.motorPwmProtocol) {
#ifdef USE_DSHOT
case PWM_TYPE_PROSHOT1000:
case PWM_TYPE_DSHOT1200:
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
disarmMotorOutput = DSHOT_DISARM_COMMAND;
if (feature(FEATURE_3D)) {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
} else {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
}
motorOutputHigh = DSHOT_MAX_THROTTLE;
deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH + ((DSHOT_MAX_THROTTLE - DSHOT_3D_DEADBAND_HIGH) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
deadbandMotor3dLow = DSHOT_3D_DEADBAND_LOW;
break;
#endif
default:
if (feature(FEATURE_3D)) {
disarmMotorOutput = flight3DConfig()->neutral3d;
motorOutputLow = flight3DConfig()->limit3d_low;
motorOutputHigh = flight3DConfig()->limit3d_high;
deadbandMotor3dHigh = flight3DConfig()->deadband3d_high;
deadbandMotor3dLow = flight3DConfig()->deadband3d_low;
} else {
disarmMotorOutput = motorConfig()->mincommand;
motorOutputLow = motorConfig()->minthrottle;
motorOutputHigh = motorConfig()->maxthrottle;
}
break;
}
rcCommandThrottleRange = PWM_RANGE_MAX - rxConfig()->mincheck;
rcCommand3dDeadBandLow = rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
rcCommand3dDeadBandHigh = rxConfig()->midrc + flight3DConfig()->deadband3d_throttle;
rcCommandThrottleRange3dLow = rcCommand3dDeadBandLow - PWM_RANGE_MIN;
rcCommandThrottleRange3dHigh = PWM_RANGE_MAX - rcCommand3dDeadBandHigh;
}
// determine if the R/P/Y stick deflection exceeds the specified limit - integer math is good enough here.
bool areSticksActive(uint8_t stickPercentLimit)
{
for (int axis = FD_ROLL; axis <= FD_YAW; axis ++) {
const uint8_t deadband = axis == FD_YAW ? rcControlsConfig()->yaw_deadband : rcControlsConfig()->deadband;
uint8_t stickPercent = 0;
if ((rcData[axis] >= PWM_RANGE_MAX) || (rcData[axis] <= PWM_RANGE_MIN)) {
stickPercent = 100;
} else {
if (rcData[axis] > (rxConfig()->midrc + deadband)) {
stickPercent = ((rcData[axis] - rxConfig()->midrc - deadband) * 100) / (PWM_RANGE_MAX - rxConfig()->midrc - deadband);
} else if (rcData[axis] < (rxConfig()->midrc - deadband)) {
stickPercent = ((rxConfig()->midrc - deadband - rcData[axis]) * 100) / (rxConfig()->midrc - deadband - PWM_RANGE_MIN);
}
}
if (stickPercent >= stickPercentLimit) {
return true;
}
}
return false;
}
// calculate the throttle stick percent - integer math is good enough here.
uint8_t calculateThrottlePercent(void)
{
uint8_t ret = 0;
if (feature(FEATURE_3D)
&& !IS_RC_MODE_ACTIVE(BOX3D)
&& !flight3DConfig()->switched_mode3d) {
if ((rcData[THROTTLE] >= PWM_RANGE_MAX) || (rcData[THROTTLE] <= PWM_RANGE_MIN)) {
ret = 100;
} else {
if (rcData[THROTTLE] > (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) {
ret = ((rcData[THROTTLE] - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle) * 100) / (PWM_RANGE_MAX - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle);
} else if (rcData[THROTTLE] < (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle)) {
ret = ((rxConfig()->midrc - flight3DConfig()->deadband3d_throttle - rcData[THROTTLE]) * 100) / (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle - PWM_RANGE_MIN);
}
}
} else {
ret = constrain(((rcData[THROTTLE] - rxConfig()->mincheck) * 100) / (PWM_RANGE_MAX - rxConfig()->mincheck), 0, 100);
}
return ret;
}
static void sendThrottleOrBatterySizeAsRpm(uint16_t deadband3d_throttle)
{
uint16_t throttleForRPM = rcCommand[THROTTLE] / BLADE_NUMBER_DIVIDER;
sendDataHead(ID_RPM);
if (ARMING_FLAG(ARMED)) {
throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig(), deadband3d_throttle);
if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP))
throttleForRPM = 0;
serialize16(throttleForRPM);
} else {
serialize16((batteryConfig()->batteryCapacity / BLADE_NUMBER_DIVIDER));
}
}
void annexCode(void)
{
int32_t tmp, tmp2;
tmp = constrain(rcData[THROTTLE], rxConfig()->mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck); // [MINCHECK;2000] -> [0;1000]
tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
if (ARMING_FLAG(ARMED)) {
LED0_ON;
} else {
if (rcModeIsActive(BOXARM) == 0) {
ENABLE_ARMING_FLAG(OK_TO_ARM);
}
if (!imuIsAircraftArmable(armingConfig()->max_arm_angle)) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (isCalibrating() || isSystemOverloaded()) {
warningLedFlash();
DISABLE_ARMING_FLAG(OK_TO_ARM);
} else {
if (ARMING_FLAG(OK_TO_ARM)) {
warningLedDisable();
} else {
warningLedFlash();
}
}
warningLedUpdate();
}
// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
if (gyro.temperature)
gyro.temperature(&telemTemperature1);
}
void subTaskPidController(void)
{
const uint32_t startTime = micros();
// PID - note this is function pointer set by setPIDController()
pidLuxFloat(
pidProfile(),
currentControlRateProfile,
imuConfig()->max_angle_inclination,
&accelerometerConfig()->accelerometerTrims,
rxConfig()
);
if (debugMode == DEBUG_PIDLOOP) {debug[2] = micros() - startTime;}
}
static void updateInflightCalibrationState(void)
{
if (AccInflightCalibrationArmed && ARMING_FLAG(ARMED) && rcData[THROTTLE] > rxConfig()->mincheck && !IS_RC_MODE_ACTIVE(BOXARM)) { // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = false;
}
if (IS_RC_MODE_ACTIVE(BOXCALIB)) { // Use the Calib Option to activate : Calib = TRUE measurement started, Land and Calib = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
InflightcalibratingA = 50;
AccInflightCalibrationActive = true;
} else if (AccInflightCalibrationMeasurementDone && !ARMING_FLAG(ARMED)) {
AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = true;
}
}
static void updateRcStickPositions(void)
{
stickPositions_e tmp = 0;
tmp |= ((rcData[ROLL] > rxConfig()->mincheck) ? 0x02 : 0x00) << (ROLL * 2);
tmp |= ((rcData[ROLL] < rxConfig()->maxcheck) ? 0x01 : 0x00) << (ROLL * 2);
tmp |= ((rcData[PITCH] > rxConfig()->mincheck) ? 0x02 : 0x00) << (PITCH * 2);
tmp |= ((rcData[PITCH] < rxConfig()->maxcheck) ? 0x01 : 0x00) << (PITCH * 2);
tmp |= ((rcData[YAW] > rxConfig()->mincheck) ? 0x02 : 0x00) << (YAW * 2);
tmp |= ((rcData[YAW] < rxConfig()->maxcheck) ? 0x01 : 0x00) << (YAW * 2);
tmp |= ((rcData[THROTTLE] > rxConfig()->mincheck) ? 0x02 : 0x00) << (THROTTLE * 2);
tmp |= ((rcData[THROTTLE] < rxConfig()->maxcheck) ? 0x01 : 0x00) << (THROTTLE * 2);
rcStickPositions = tmp;
}
void targetConfiguration(void)
{
gyroConfigMutable()->looptime = 1000;
rxConfigMutable()->rcmap[0] = 1;
rxConfigMutable()->rcmap[1] = 2;
rxConfigMutable()->rcmap[2] = 3;
rxConfigMutable()->rcmap[3] = 0;
featureSet(FEATURE_VBAT);
featureSet(FEATURE_LED_STRIP);
serialConfigMutable()->portConfigs[0].functionMask = FUNCTION_MSP;
if (rxConfig()->receiverType == RX_TYPE_SERIAL) {
serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
}
}
bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig)
{
if (portConfig->functionMask & FUNCTION_RX_SERIAL && portConfig->functionMask & TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK &&
(rxConfig()->serialrx_provider == SERIALRX_SPEKTRUM1024 ||
rxConfig()->serialrx_provider == SERIALRX_SPEKTRUM2048 ||
rxConfig()->serialrx_provider == SERIALRX_SBUS ||
rxConfig()->serialrx_provider == SERIALRX_SUMD ||
rxConfig()->serialrx_provider == SERIALRX_SUMH ||
rxConfig()->serialrx_provider == SERIALRX_XBUS_MODE_B ||
rxConfig()->serialrx_provider == SERIALRX_XBUS_MODE_B_RJ01 ||
rxConfig()->serialrx_provider == SERIALRX_IBUS)) {
return true;
}
#ifdef USE_TELEMETRY_IBUS
if ( portConfig->functionMask & FUNCTION_TELEMETRY_IBUS
&& portConfig->functionMask & FUNCTION_RX_SERIAL
&& rxConfig()->serialrx_provider == SERIALRX_IBUS) {
// IBUS serial RX & telemetry
return true;
}
#endif
return false;
}
static FAST_CODE_NOINLINE void subTaskRcCommand(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
#ifndef USE_QUAD_MIXER_ONLY
#ifdef USE_SERVOS
&& !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoConfig()->tri_unarmed_servo)
#endif
&& mixerConfig()->mixerMode != MIXER_AIRPLANE
&& mixerConfig()->mixerMode != MIXER_FLYING_WING
#endif
) {
resetYawAxis();
}
processRcCommand();
}
void taskUpdateBattery(void)
{
static uint32_t vbatLastServiced = 0;
static uint32_t ibatLastServiced = 0;
if (feature(FEATURE_VBAT)) {
if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTime;
updateBattery();
}
}
if (feature(FEATURE_CURRENT_METER)) {
int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTime;
throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig(), rcControlsConfig()->deadband3d_throttle);
updateCurrentMeter(ibatTimeSinceLastServiced, throttleStatus);
}
}
}
void mixTable(void)
{
uint32_t i;
bool isFailsafeActive = failsafeIsActive();
if (motorCount >= 4 && mixerConfig()->yaw_jump_prevention_limit < YAW_JUMP_PREVENTION_LIMIT_HIGH) {
// prevent "yaw jump" during yaw correction
axisPID[FD_YAW] = constrain(axisPID[FD_YAW], -mixerConfig()->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig()->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}
if (rcModeIsActive(BOXAIRMODE)) {
// Initial mixer concept by bdoiron74 reused and optimized for Air Mode
int16_t rollPitchYawMix[MAX_SUPPORTED_MOTORS];
int16_t rollPitchYawMixMax = 0; // assumption: symetrical about zero.
int16_t rollPitchYawMixMin = 0;
// Find roll/pitch/yaw desired output
for (i = 0; i < motorCount; i++) {
rollPitchYawMix[i] =
axisPID[FD_PITCH] * currentMixer[i].pitch +
axisPID[FD_ROLL] * currentMixer[i].roll +
-mixerConfig()->yaw_motor_direction * axisPID[FD_YAW] * currentMixer[i].yaw;
if (rollPitchYawMix[i] > rollPitchYawMixMax) rollPitchYawMixMax = rollPitchYawMix[i];
if (rollPitchYawMix[i] < rollPitchYawMixMin) rollPitchYawMixMin = rollPitchYawMix[i];
}
// Scale roll/pitch/yaw uniformly to fit within throttle range
int16_t rollPitchYawMixRange = rollPitchYawMixMax - rollPitchYawMixMin;
int16_t throttleRange, throttle;
int16_t throttleMin, throttleMax;
static int16_t throttlePrevious = 0; // Store the last throttle direction for deadband transitions in 3D.
// Find min and max throttle based on condition. Use rcData for 3D to prevent loss of power due to min_check
if (feature(FEATURE_3D)) {
if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
if ((rcData[THROTTLE] <= (rxConfig()->midrc - rcControlsConfig()->deadband3d_throttle))) { // Out of band handling
throttleMax = motor3DConfig()->deadband3d_low;
throttleMin = motorAndServoConfig()->minthrottle;
throttlePrevious = throttle = rcData[THROTTLE];
} else if (rcData[THROTTLE] >= (rxConfig()->midrc + rcControlsConfig()->deadband3d_throttle)) { // Positive handling
throttleMax = motorAndServoConfig()->maxthrottle;
throttleMin = motor3DConfig()->deadband3d_high;
throttlePrevious = throttle = rcData[THROTTLE];
} else if ((throttlePrevious <= (rxConfig()->midrc - rcControlsConfig()->deadband3d_throttle))) { // Deadband handling from negative to positive
throttle = throttleMax = motor3DConfig()->deadband3d_low;
throttleMin = motorAndServoConfig()->minthrottle;
} else { // Deadband handling from positive to negative
throttleMax = motorAndServoConfig()->maxthrottle;
throttle = throttleMin = motor3DConfig()->deadband3d_high;
}
} else {
throttle = rcCommand[THROTTLE];
throttleMin = motorAndServoConfig()->minthrottle;
throttleMax = motorAndServoConfig()->maxthrottle;
}
throttleRange = throttleMax - throttleMin;
if (rollPitchYawMixRange > throttleRange) {
motorLimitReached = true;
float mixReduction = (float) throttleRange / rollPitchYawMixRange;
for (i = 0; i < motorCount; i++) {
rollPitchYawMix[i] = lrintf((float) rollPitchYawMix[i] * mixReduction);
}
// Get the maximum correction by setting throttle offset to center.
throttleMin = throttleMax = throttleMin + (throttleRange / 2);
} else {
motorLimitReached = false;
throttleMin = throttleMin + (rollPitchYawMixRange / 2);
throttleMax = throttleMax - (rollPitchYawMixRange / 2);
}
// Now add in the desired throttle, but keep in a range that doesn't clip adjusted
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (i = 0; i < motorCount; i++) {
motor[i] = rollPitchYawMix[i] + constrain(throttle * currentMixer[i].throttle, throttleMin, throttleMax);
if (isFailsafeActive) {
motor[i] = mixConstrainMotorForFailsafeCondition(i);
} else if (feature(FEATURE_3D)) {
if (throttlePrevious <= (rxConfig()->midrc - rcControlsConfig()->deadband3d_throttle)) {
motor[i] = constrain(motor[i], motorAndServoConfig()->minthrottle, motor3DConfig()->deadband3d_low);
} else {
motor[i] = constrain(motor[i], motor3DConfig()->deadband3d_high, motorAndServoConfig()->maxthrottle);
}
} else {
motor[i] = constrain(motor[i], motorAndServoConfig()->minthrottle, motorAndServoConfig()->maxthrottle);
}
}
} else {
// motors for non-servo mixes
for (i = 0; i < motorCount; i++) {
motor[i] =
rcCommand[THROTTLE] * currentMixer[i].throttle +
axisPID[FD_PITCH] * currentMixer[i].pitch +
axisPID[FD_ROLL] * currentMixer[i].roll +
-mixerConfig()->yaw_motor_direction * axisPID[FD_YAW] * currentMixer[i].yaw;
}
// Find the maximum motor output.
int16_t maxMotor = motor[0];
for (i = 1; i < motorCount; i++) {
// If one motor is above the maxthrottle threshold, we reduce the value
// of all motors by the amount of overshoot. That way, only one motor
// is at max and the relative power of each motor is preserved.
if (motor[i] > maxMotor) {
maxMotor = motor[i];
}
}
int16_t maxThrottleDifference = 0;
if (maxMotor > motorAndServoConfig()->maxthrottle) {
maxThrottleDifference = maxMotor - motorAndServoConfig()->maxthrottle;
}
for (i = 0; i < motorCount; i++) {
// this is a way to still have good gyro corrections if at least one motor reaches its max.
motor[i] -= maxThrottleDifference;
if (feature(FEATURE_3D)) {
if (mixerConfig()->pid_at_min_throttle
|| rcData[THROTTLE] <= rxConfig()->midrc - rcControlsConfig()->deadband3d_throttle
|| rcData[THROTTLE] >= rxConfig()->midrc + rcControlsConfig()->deadband3d_throttle) {
if (rcData[THROTTLE] > rxConfig()->midrc) {
motor[i] = constrain(motor[i], motor3DConfig()->deadband3d_high, motorAndServoConfig()->maxthrottle);
} else {
motor[i] = constrain(motor[i], motorAndServoConfig()->mincommand, motor3DConfig()->deadband3d_low);
}
} else {
if (rcData[THROTTLE] > rxConfig()->midrc) {
motor[i] = motor3DConfig()->deadband3d_high;
} else {
motor[i] = motor3DConfig()->deadband3d_low;
}
}
} else {
if (isFailsafeActive) {
motor[i] = mixConstrainMotorForFailsafeCondition(i);
} else {
// If we're at minimum throttle and FEATURE_MOTOR_STOP enabled,
// do not spin the motors.
motor[i] = constrain(motor[i], motorAndServoConfig()->minthrottle, motorAndServoConfig()->maxthrottle);
if ((rcData[THROTTLE]) < rxConfig()->mincheck) {
if (feature(FEATURE_MOTOR_STOP)) {
motor[i] = motorAndServoConfig()->mincommand;
} else if (mixerConfig()->pid_at_min_throttle == 0) {
motor[i] = motorAndServoConfig()->minthrottle;
}
}
}
}
}
}
/* Disarmed for all mixers */
if (!ARMING_FLAG(ARMED)) {
for (i = 0; i < motorCount; i++) {
motor[i] = motor_disarmed[i];
}
}
// motor outputs are used as sources for servo mixing, so motors must be calculated before servos.
#if !defined(USE_QUAD_MIXER_ONLY) && defined(USE_SERVOS)
servoMixTable();
#endif
}
static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
{
uint32_t startTime = 0;
if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
// Read out gyro temperature if used for telemmetry
if (feature(FEATURE_TELEMETRY)) {
gyroReadTemperature();
}
#ifdef MAG
if (sensors(SENSOR_MAG)) {
updateMagHold();
}
#endif
#if defined(BARO) || defined(SONAR)
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
applyAltHold();
}
}
#endif
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
#ifndef USE_QUAD_MIXER_ONLY
#ifdef USE_SERVOS
&& !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoConfig()->tri_unarmed_servo)
#endif
&& mixerConfig()->mixerMode != MIXER_AIRPLANE
&& mixerConfig()->mixerMode != MIXER_FLYING_WING
#endif
) {
resetYawAxis();
}
if (throttleCorrectionConfig()->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value);
}
processRcCommand();
#ifdef GPS
if (sensors(SENSOR_GPS)) {
if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
updateGpsStateForHomeAndHoldMode();
}
}
#endif
#ifdef USE_SDCARD
afatfs_poll();
#endif
#ifdef BLACKBOX
if (!cliMode && blackboxConfig()->device) {
handleBlackbox(currentTimeUs);
}
#else
UNUSED(currentTimeUs);
#endif
#ifdef TRANSPONDER
transponderUpdate(currentTimeUs);
#endif
DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
}
void processRx(timeUs_t currentTimeUs)
{
static bool armedBeeperOn = false;
static bool airmodeIsActivated;
calculateRxChannelsAndUpdateFailsafe(currentTimeUs);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
mwDisarm();
}
updateRSSI(currentTimeUs);
if (feature(FEATURE_FAILSAFE)) {
if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
}
const throttleStatus_e throttleStatus = calculateThrottleStatus();
if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
if (rcCommand[THROTTLE] >= rxConfig()->airModeActivateThreshold) airmodeIsActivated = true; // Prevent Iterm from being reset
} else {
airmodeIsActivated = false;
}
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
pidResetErrorGyroState();
if (currentPidProfile->pidAtMinThrottle)
pidStabilisationState(PID_STABILISATION_ON);
else
pidStabilisationState(PID_STABILISATION_OFF);
} else {
pidStabilisationState(PID_STABILISATION_ON);
}
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
&& !feature(FEATURE_3D)
&& !isAirmodeActive()
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (armingConfig()->auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
mwDisarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (armingConfig()->auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
} else {
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
}
processRcStickPositions(throttleStatus);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateActivatedModes();
if (!cliMode) {
updateAdjustmentStates();
processRcAdjustments(currentControlRateProfile);
}
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
} else {
LED1_OFF;
}
#if defined(ACC) || defined(MAG)
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
#if defined(GPS) || defined(MAG)
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
#endif
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // acquire new heading
}
}
#endif
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if ((!telemetryConfig()->telemetry_switch && ARMING_FLAG(ARMED)) ||
(telemetryConfig()->telemetry_switch && IS_RC_MODE_ACTIVE(BOXTELEMETRY))) {
releaseSharedTelemetryPorts();
} else {
// the telemetry state must be checked immediately so that shared serial ports are released.
telemetryCheckState();
mspSerialAllocatePorts();
}
}
#endif
#ifdef VTX
vtxUpdateActivatedChannel();
#endif
}
void taskMainPidLoop(void)
{
cycleTime = getTaskDeltaTime(TASK_SELF);
dT = (float)cycleTime * 0.000001f;
// Calculate average cycle time and average jitter
filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 1, dT);
debug[0] = cycleTime;
debug[1] = cycleTime - filteredCycleTime;
imuUpdateGyroAndAttitude();
annexCode();
if (rxConfig()->rcSmoothing) {
filterRc();
}
#if defined(BARO) || defined(SONAR)
haveProcessedAnnexCodeOnce = true;
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
updateMagHold();
}
#endif
#if defined(BARO) || defined(SONAR)
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
applyAltHold();
}
}
#endif
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
#ifndef USE_QUAD_MIXER_ONLY
#ifdef USE_SERVOS
&& !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && mixerConfig()->tri_unarmed_servo)
#endif
&& mixerConfig()->mixerMode != MIXER_AIRPLANE
&& mixerConfig()->mixerMode != MIXER_FLYING_WING
#endif
) {
rcCommand[YAW] = 0;
}
if (throttleCorrectionConfig()->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value);
}
#ifdef GPS
if (sensors(SENSOR_GPS)) {
if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
updateGpsStateForHomeAndHoldMode();
}
}
#endif
// PID - note this is function pointer set by setPIDController()
pid_controller(
pidProfile(),
currentControlRateProfile,
imuConfig()->max_angle_inclination,
&accelerometerConfig()->accelerometerTrims,
rxConfig()
);
mixTable();
#ifdef USE_SERVOS
filterServos();
writeServos();
#endif
if (motorControlEnable) {
writeMotors();
}
#ifdef USE_SDCARD
afatfs_poll();
#endif
#ifdef BLACKBOX
if (!cliMode && feature(FEATURE_BLACKBOX)) {
handleBlackbox();
}
#endif
}
void annexCode(void)
{
int32_t tmp, tmp2;
int32_t axis, prop1 = 0, prop2;
// PITCH & ROLL only dynamic PID adjustment, depending on throttle value
if (rcData[THROTTLE] < currentControlRateProfile->tpa_breakpoint) {
prop2 = 100;
} else {
if (rcData[THROTTLE] < 2000) {
prop2 = 100 - (uint16_t)currentControlRateProfile->dynThrPID * (rcData[THROTTLE] - currentControlRateProfile->tpa_breakpoint) / (2000 - currentControlRateProfile->tpa_breakpoint);
} else {
prop2 = 100 - currentControlRateProfile->dynThrPID;
}
}
for (axis = 0; axis < 3; axis++) {
tmp = MIN(ABS(rcData[axis] - rxConfig()->midrc), 500);
if (axis == ROLL || axis == PITCH) {
if (rcControlsConfig()->deadband) {
if (tmp > rcControlsConfig()->deadband) {
tmp -= rcControlsConfig()->deadband;
} else {
tmp = 0;
}
}
tmp2 = tmp / 100;
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
} else if (axis == YAW) {
if (rcControlsConfig()->yaw_deadband) {
if (tmp > rcControlsConfig()->yaw_deadband) {
tmp -= rcControlsConfig()->yaw_deadband;
} else {
tmp = 0;
}
}
tmp2 = tmp / 100;
rcCommand[axis] = (lookupYawRC[tmp2] + (tmp - tmp2 * 100) * (lookupYawRC[tmp2 + 1] - lookupYawRC[tmp2]) / 100) * -rcControlsConfig()->yaw_control_direction;
prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * ABS(tmp) / 500;
}
// FIXME axis indexes into pids. use something like lookupPidIndex(rc_alias_e alias) to reduce coupling.
dynP8[axis] = (uint16_t)pidProfile()->P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)pidProfile()->I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)pidProfile()->D8[axis] * prop1 / 100;
// non coupled PID reduction scaler used in PID controller 1 and PID controller 2. YAW TPA disabled. 100 means 100% of the pids
if (axis == YAW) {
PIDweight[axis] = 100;
}
else {
PIDweight[axis] = prop2;
}
if (rcData[axis] < rxConfig()->midrc)
rcCommand[axis] = -rcCommand[axis];
}
tmp = constrain(rcData[THROTTLE], rxConfig()->mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck); // [MINCHECK;2000] -> [0;1000]
tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
if (FLIGHT_MODE(HEADFREE_MODE)) {
float radDiff = degreesToRadians(DECIDEGREES_TO_DEGREES(attitude.values.yaw) - headFreeModeHold);
float cosDiff = cos_approx(radDiff);
float sinDiff = sin_approx(radDiff);
int16_t rcCommand_PITCH = rcCommand[PITCH] * cosDiff + rcCommand[ROLL] * sinDiff;
rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
rcCommand[PITCH] = rcCommand_PITCH;
}
if (ARMING_FLAG(ARMED)) {
LED0_ON;
} else {
if (IS_RC_MODE_ACTIVE(BOXARM) == 0) {
ENABLE_ARMING_FLAG(OK_TO_ARM);
}
if (!imuIsAircraftArmable(armingConfig()->max_arm_angle)) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
debug[3] = ARMING_FLAG(OK_TO_ARM);
}
if (isCalibrating() || isSystemOverloaded()) {
warningLedFlash();
DISABLE_ARMING_FLAG(OK_TO_ARM);
} else {
if (ARMING_FLAG(OK_TO_ARM)) {
warningLedDisable();
} else {
warningLedFlash();
}
}
debug[3] = ARMING_FLAG(OK_TO_ARM);
warningLedUpdate();
}
// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
if (gyro.temperature)
gyro.temperature(&telemTemperature1);
}
void init(void)
{
drv_pwm_config_t pwm_params;
printfSupportInit();
initEEPROM();
ensureEEPROMContainsValidData();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
#ifdef STM32F303
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
#endif
#ifdef STM32F303xC
SetSysClock();
#endif
#ifdef STM32F10X
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(systemConfig()->emf_avoidance);
#endif
i2cSetOverclock(systemConfig()->i2c_highspeed);
systemInit();
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
// Latch active features to be used for feature() in the remainder of init().
latchActiveFeatures();
// initialize IO (needed for all IO operations)
IOInitGlobal();
debugMode = debugConfig()->debug_mode;
#ifdef USE_EXTI
EXTIInit();
#endif
#ifdef ALIENFLIGHTF3
if (hardwareRevision == AFF3_REV_1) {
ledInit(false);
} else {
ledInit(true);
}
#else
ledInit(false);
#endif
#ifdef BEEPER
beeperConfig_t beeperConfig = {
.gpioPeripheral = BEEP_PERIPHERAL,
.gpioPin = BEEP_PIN,
.gpioPort = BEEP_GPIO,
#ifdef BEEPER_INVERTED
.gpioMode = Mode_Out_PP,
.isInverted = true
#else
.gpioMode = Mode_Out_OD,
.isInverted = false
#endif
};
#ifdef NAZE
if (hardwareRevision >= NAZE32_REV5) {
// naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
beeperConfig.gpioMode = Mode_Out_PP;
beeperConfig.isInverted = true;
}
#endif
beeperInit(&beeperConfig);
#endif
#ifdef BUTTONS
buttonsInit();
if (!isMPUSoftReset()) {
buttonsHandleColdBootButtonPresses();
}
#endif
#ifdef SPEKTRUM_BIND
if (feature(FEATURE_RX_SERIAL)) {
switch (rxConfig()->serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
// Spektrum satellite binding if enabled on startup.
// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
// The rest of Spektrum initialization will happen later - via spektrumInit()
spektrumBind(rxConfig());
break;
}
}
#endif
delay(100);
timerInit(); // timer must be initialized before any channel is allocated
dmaInit();
serialInit(feature(FEATURE_SOFTSERIAL));
mixerInit(customMotorMixer(0));
#ifdef USE_SERVOS
mixerInitServos(customServoMixer(0));
#endif
memset(&pwm_params, 0, sizeof(pwm_params));
#ifdef SONAR
const sonarHardware_t *sonarHardware = NULL;
sonarGPIOConfig_t sonarGPIOConfig;
if (feature(FEATURE_SONAR)) {
bool usingCurrentMeterIOPins = (feature(FEATURE_AMPERAGE_METER) && batteryConfig()->amperageMeterSource == AMPERAGE_METER_ADC);
sonarHardware = sonarGetHardwareConfiguration(usingCurrentMeterIOPins);
sonarGPIOConfig.triggerGPIO = sonarHardware->trigger_gpio;
sonarGPIOConfig.triggerPin = sonarHardware->trigger_pin;
sonarGPIOConfig.echoGPIO = sonarHardware->echo_gpio;
sonarGPIOConfig.echoPin = sonarHardware->echo_pin;
pwm_params.sonarGPIOConfig = &sonarGPIOConfig;
}
#endif
// when using airplane/wing mixer, servo/motor outputs are remapped
if (mixerConfig()->mixerMode == MIXER_AIRPLANE || mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
#if defined(USE_UART2) && defined(STM32F10X)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_UART2);
#endif
#if defined(USE_UART3)
pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_UART3);
#endif
#if defined(USE_UART4)
pwm_params.useUART4 = doesConfigurationUsePort(SERIAL_PORT_UART4);
#endif
#if defined(USE_UART5)
pwm_params.useUART5 = doesConfigurationUsePort(SERIAL_PORT_UART5);
#endif
pwm_params.useVbat = feature(FEATURE_VBAT);
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
pwm_params.useCurrentMeterADC = (
feature(FEATURE_AMPERAGE_METER)
&& batteryConfig()->amperageMeterSource == AMPERAGE_METER_ADC
);
pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
pwm_params.usePPM = feature(FEATURE_RX_PPM);
pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
#ifdef SONAR
pwm_params.useSonar = feature(FEATURE_SONAR);
#endif
#ifdef USE_SERVOS
pwm_params.useServos = isMixerUsingServos();
pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
pwm_params.servoCenterPulse = servoConfig()->servoCenterPulse;
pwm_params.servoPwmRate = servoConfig()->servo_pwm_rate;
#endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.motorPwmRate = motorConfig()->motor_pwm_rate;
pwm_params.idlePulse = calculateMotorOff();
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwmRxInit();
// pwmInit() needs to be called as soon as possible for ESC compatibility reasons
pwmIOConfiguration_t *pwmIOConfiguration = pwmInit(&pwm_params);
mixerUsePWMIOConfiguration(pwmIOConfiguration);
#ifdef DEBUG_PWM_CONFIGURATION
debug[2] = pwmIOConfiguration->pwmInputCount;
debug[3] = pwmIOConfiguration->ppmInputCount;
#endif
if (!feature(FEATURE_ONESHOT125))
motorControlEnable = true;
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef INVERTER
initInverter();
#endif
#ifdef USE_SPI
spiInit(SPI1);
spiInit(SPI2);
#ifdef STM32F303xC
#ifdef ALIENFLIGHTF3
if (hardwareRevision == AFF3_REV_2) {
spiInit(SPI3);
}
#else
spiInit(SPI3);
#endif
#endif
#endif
#ifdef USE_HARDWARE_REVISION_DETECTION
updateHardwareRevision();
#endif
#if defined(NAZE)
if (hardwareRevision == NAZE32_SP) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
} else {
serialRemovePort(SERIAL_PORT_UART3);
}
#endif
#if defined(SPRACINGF3) && defined(SONAR) && defined(USE_SOFTSERIAL2)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
}
#endif
#if defined(SPRACINGF3MINI) && defined(SONAR) && defined(USE_SOFTSERIAL1)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
}
#endif
#ifdef USE_I2C
#if defined(NAZE)
if (hardwareRevision != NAZE32_SP) {
i2cInit(I2C_DEVICE);
} else {
if (!doesConfigurationUsePort(SERIAL_PORT_UART3)) {
i2cInit(I2C_DEVICE);
}
}
#elif defined(CC3D)
if (!doesConfigurationUsePort(SERIAL_PORT_UART3)) {
i2cInit(I2C_DEVICE);
}
#else
i2cInit(I2C_DEVICE);
#endif
#endif
#ifdef USE_ADC
drv_adc_config_t adc_params;
adc_params.channelMask = 0;
#ifdef ADC_BATTERY
adc_params.channelMask = (feature(FEATURE_VBAT) ? ADC_CHANNEL_MASK(ADC_BATTERY) : 0);
#endif
#ifdef ADC_RSSI
adc_params.channelMask |= (feature(FEATURE_RSSI_ADC) ? ADC_CHANNEL_MASK(ADC_RSSI) : 0);
#endif
#ifdef ADC_AMPERAGE
adc_params.channelMask |= (feature(FEATURE_AMPERAGE_METER) ? ADC_CHANNEL_MASK(ADC_AMPERAGE) : 0);
#endif
#ifdef ADC_POWER_12V
adc_params.channelMask |= ADC_CHANNEL_MASK(ADC_POWER_12V);
#endif
#ifdef ADC_POWER_5V
adc_params.channelMask |= ADC_CHANNEL_MASK(ADC_POWER_5V);
#endif
#ifdef ADC_POWER_3V
adc_params.channelMask |= ADC_CHANNEL_MASK(ADC_POWER_3V);
#endif
#ifdef NAZE
// optional ADC5 input on rev.5 hardware
adc_params.channelMask |= (hardwareRevision >= NAZE32_REV5) ? ADC_CHANNEL_MASK(ADC_EXTERNAL) : 0;
#endif
adcInit(&adc_params);
#endif
initBoardAlignment();
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
displayInit();
}
#endif
#ifdef NAZE
if (hardwareRevision < NAZE32_REV5) {
gyroConfig()->gyro_sync = 0;
}
#endif
if (!sensorsAutodetect()) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(FAILURE_MISSING_ACC);
}
systemState |= SYSTEM_STATE_SENSORS_READY;
flashLedsAndBeep();
mspInit();
mspSerialInit();
const uint16_t pidPeriodUs = US_FROM_HZ(gyro.sampleFrequencyHz);
pidSetTargetLooptime(pidPeriodUs * gyroConfig()->pid_process_denom);
pidInitFilters(pidProfile());
#ifdef USE_SERVOS
mixerInitialiseServoFiltering(targetPidLooptime);
#endif
imuInit();
#ifdef USE_CLI
cliInit();
#endif
failsafeInit();
rxInit(modeActivationProfile()->modeActivationConditions);
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsInit();
navigationInit(pidProfile());
}
#endif
#ifdef SONAR
if (feature(FEATURE_SONAR)) {
sonarInit(sonarHardware);
}
#endif
#ifdef LED_STRIP
ledStripInit();
if (feature(FEATURE_LED_STRIP)) {
ledStripEnable();
}
#endif
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
telemetryInit();
}
#endif
#ifdef USB_CABLE_DETECTION
usbCableDetectInit();
#endif
#ifdef TRANSPONDER
if (feature(FEATURE_TRANSPONDER)) {
transponderInit(transponderConfig()->data);
transponderEnable();
transponderStartRepeating();
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
}
#endif
#ifdef USE_FLASHFS
#ifdef NAZE
if (hardwareRevision == NAZE32_REV5) {
m25p16_init();
}
#elif defined(USE_FLASH_M25P16)
m25p16_init();
#endif
flashfsInit();
#endif
#ifdef USE_SDCARD
bool sdcardUseDMA = false;
sdcardInsertionDetectInit();
#ifdef SDCARD_DMA_CHANNEL_TX
#if defined(LED_STRIP) && defined(WS2811_DMA_CHANNEL)
// Ensure the SPI Tx DMA doesn't overlap with the led strip
sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_CHANNEL;
#else
sdcardUseDMA = true;
#endif
#endif
sdcard_init(sdcardUseDMA);
afatfs_init();
#endif
#ifdef BLACKBOX
initBlackbox();
#endif
if (mixerConfig()->mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
#ifdef BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif
// start all timers
// TODO - not implemented yet
timerStart();
ENABLE_STATE(SMALL_ANGLE);
DISABLE_ARMING_FLAG(PREVENT_ARMING);
#ifdef SOFTSERIAL_LOOPBACK
// FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
if (!loopbackPort->vTable) {
loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
}
serialPrint(loopbackPort, "LOOPBACK\r\n");
#endif
if (feature(FEATURE_VBAT)) {
// Now that everything has powered up the voltage and cell count be determined.
voltageMeterInit();
batteryInit();
}
if (feature(FEATURE_AMPERAGE_METER)) {
amperageMeterInit();
}
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
displayShowFixedPage(PAGE_GPS);
#else
displayResetPageCycling();
displayEnablePageCycling();
#endif
}
#endif
#ifdef CJMCU
LED2_ON;
#endif
// Latch active features AGAIN since some may be modified by init().
latchActiveFeatures();
motorControlEnable = true;
systemState |= SYSTEM_STATE_READY;
}
#ifdef SOFTSERIAL_LOOPBACK
void processLoopback(void) {
if (loopbackPort) {
uint8_t bytesWaiting;
while ((bytesWaiting = serialRxBytesWaiting(loopbackPort))) {
uint8_t b = serialRead(loopbackPort);
serialWrite(loopbackPort, b);
};
}
}
#else
#define processLoopback()
#endif
void configureScheduler(void)
{
schedulerInit();
setTaskEnabled(TASK_SYSTEM, true);
uint16_t gyroPeriodUs = US_FROM_HZ(gyro.sampleFrequencyHz);
rescheduleTask(TASK_GYRO, gyroPeriodUs);
setTaskEnabled(TASK_GYRO, true);
rescheduleTask(TASK_PID, gyroPeriodUs);
setTaskEnabled(TASK_PID, true);
if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
}
setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
setTaskEnabled(TASK_SERIAL, true);
#ifdef BEEPER
setTaskEnabled(TASK_BEEPER, true);
#endif
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_AMPERAGE_METER));
setTaskEnabled(TASK_RX, true);
#ifdef GPS
setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
#endif
#ifdef MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#if defined(MPU6500_SPI_INSTANCE) && defined(USE_MAG_AK8963)
// fixme temporary solution for AK6983 via slave I2C on MPU9250
rescheduleTask(TASK_COMPASS, 1000000 / 40);
#endif
#endif
#ifdef BARO
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
#endif
#ifdef SONAR
setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
#endif
#if defined(BARO) || defined(SONAR)
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
#endif
#ifdef DISPLAY
setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY));
#endif
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
#endif
#ifdef LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
#endif
#ifdef TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
#endif
}
/*
This function processes RX dependent coefficients when new RX commands are available
Those are: TPA, throttle expo
*/
static void updateRcCommands(void)
{
int32_t prop2;
// PITCH & ROLL only dynamic PID adjustment, depending on throttle value
if (rcData[THROTTLE] < currentControlRateProfile->tpa_breakpoint) {
prop2 = 100;
} else {
if (rcData[THROTTLE] < 2000) {
prop2 = 100 - (uint16_t)currentControlRateProfile->dynThrPID * (rcData[THROTTLE] - currentControlRateProfile->tpa_breakpoint) / (2000 - currentControlRateProfile->tpa_breakpoint);
} else {
prop2 = 100 - currentControlRateProfile->dynThrPID;
}
}
for (int axis = 0; axis < 3; axis++) {
int32_t prop1;
int32_t tmp = MIN(ABS(rcData[axis] - rxConfig()->midrc), 500);
if (axis == ROLL || axis == PITCH) {
if (rcControlsConfig()->deadband) {
if (tmp > rcControlsConfig()->deadband) {
tmp -= rcControlsConfig()->deadband;
} else {
tmp = 0;
}
}
rcCommand[axis] = rcLookupPitchRoll(tmp);
prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
// non coupled PID reduction scaler used in PID controller 1 and PID controller 2. 100 means 100% of the pids
PIDweight[axis] = prop2;
} else {
if (rcControlsConfig()->yaw_deadband) {
if (tmp > rcControlsConfig()->yaw_deadband) {
tmp -= rcControlsConfig()->yaw_deadband;
} else {
tmp = 0;
}
}
rcCommand[axis] = rcLookupYaw(tmp) * -rcControlsConfig()->yaw_control_direction;
prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * ABS(tmp) / 500;
// YAW TPA disabled.
PIDweight[axis] = 100;
}
#ifdef USE_PID_MW23
// FIXME axis indexes into pids. use something like lookupPidIndex(rc_alias_e alias) to reduce coupling.
dynP8[axis] = (uint16_t)pidProfile()->P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)pidProfile()->I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)pidProfile()->D8[axis] * prop1 / 100;
#endif
if (rcData[axis] < rxConfig()->midrc) {
rcCommand[axis] = -rcCommand[axis];
}
}
int32_t tmp = constrain(rcData[THROTTLE], rxConfig()->mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck); // [MINCHECK;2000] -> [0;1000]
rcCommand[THROTTLE] = rcLookupThrottle(tmp);
if (FLIGHT_MODE(HEADFREE_MODE)) {
float radDiff = degreesToRadians(DECIDEGREES_TO_DEGREES(attitude.values.yaw) - headFreeModeHold);
float cosDiff = cos_approx(radDiff);
float sinDiff = sin_approx(radDiff);
int16_t rcCommand_PITCH = rcCommand[PITCH] * cosDiff + rcCommand[ROLL] * sinDiff;
rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
rcCommand[PITCH] = rcCommand_PITCH;
}
}
void processRx(void)
{
static bool armedBeeperOn = false;
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!rcModeIsActive(BOXARM))
mwDisarm();
}
updateRSSI(currentTime);
if (feature(FEATURE_FAILSAFE)) {
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
}
throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig(), rcControlsConfig()->deadband3d_throttle);
rollPitchStatus_e rollPitchStatus = calculateRollPitchCenterStatus(rxConfig());
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air
Low Throttle + roll and Pitch centered is assuming the copter is on the ground. Done to prevent complex air/ground detections */
if (throttleStatus == THROTTLE_LOW) {
if (rcModeIsActive(BOXAIRMODE) && !failsafeIsActive() && ARMING_FLAG(ARMED)) {
if (rollPitchStatus == CENTERED) {
ENABLE_STATE(ANTI_WINDUP);
} else {
DISABLE_STATE(ANTI_WINDUP);
}
} else {
pidResetITerm();
}
} else {
DISABLE_STATE(ANTI_WINDUP);
}
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (armingConfig()->auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
mwDisarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (armingConfig()->auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
} else {
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
}
processRcStickPositions(rxConfig(), throttleStatus, armingConfig()->retarded_arm, armingConfig()->disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
rcModeUpdateActivated(modeActivationProfile()->modeActivationConditions);
if (!cliMode) {
updateAdjustmentStates(adjustmentProfile()->adjustmentRanges);
processRcAdjustments(currentControlRateProfile, rxConfig());
}
bool canUseHorizonMode = true;
if ((rcModeIsActive(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (rcModeIsActive(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
} else {
LED1_OFF;
}
#ifdef MAG
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (rcModeIsActive(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
if (rcModeIsActive(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (rcModeIsActive(BOXHEADADJ)) {
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // acquire new heading
}
}
#endif
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (rcModeIsActive(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if ((!telemetryConfig()->telemetry_switch && ARMING_FLAG(ARMED))
|| (telemetryConfig()->telemetry_switch && rcModeIsActive(BOXTELEMETRY))) {
releaseSharedTelemetryPorts();
} else {
// the telemetry state must be checked immediately so that shared serial ports are released.
bool telemetryStateChanged = telemetryCheckState();
if (telemetryStateChanged) {
mspSerialAllocatePorts();
}
}
}
#endif
#ifdef VTX
if (canUpdateVTX()) {
updateVTXState();
}
#endif
}
void processRcCommand(void)
{
if (rxConfig()->rcSmoothing) {
filterRc();
}
}
void processRcStickPositions(throttleStatus_e throttleStatus)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
static uint8_t rcDisarmTicks; // this is an extra guard for disarming through switch to prevent that one frame can disarm it
uint8_t stTmp = 0;
int i;
// ------------------ STICKS COMMAND HANDLER --------------------
// checking sticks positions
for (i = 0; i < 4; i++) {
stTmp >>= 2;
if (rcData[i] > rxConfig()->mincheck)
stTmp |= 0x80; // check for MIN
if (rcData[i] < rxConfig()->maxcheck)
stTmp |= 0x40; // check for MAX
}
if (stTmp == rcSticks) {
if (rcDelayCommand < 250)
rcDelayCommand++;
} else
rcDelayCommand = 0;
rcSticks = stTmp;
// perform actions
if (!isUsingSticksToArm) {
if (IS_RC_MODE_ACTIVE(BOXARM)) {
rcDisarmTicks = 0;
// Arming via ARM BOX
tryArm();
} else {
// Disarming via ARM BOX
resetArmingDisabled();
if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive() ) {
rcDisarmTicks++;
if (rcDisarmTicks > 3) {
if (armingConfig()->disarm_kill_switch) {
disarm();
} else if (throttleStatus == THROTTLE_LOW) {
disarm();
}
}
}
}
}
if (rcDelayCommand != 20) {
return;
}
if (isUsingSticksToArm) {
// Disarm on throttle down + yaw
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) {
if (ARMING_FLAG(ARMED))
disarm();
else {
beeper(BEEPER_DISARM_REPEAT); // sound tone while stick held
rcDelayCommand = 0; // reset so disarm tone will repeat
}
}
}
if (ARMING_FLAG(ARMED)) {
// actions during armed
return;
}
// actions during not armed
i = 0;
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
// GYRO calibration
gyroStartCalibration(false);
#ifdef GPS
if (feature(FEATURE_GPS)) {
GPS_reset_home_position();
}
#endif
#ifdef BARO
if (sensors(SENSOR_BARO))
baroSetCalibrationCycles(10); // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
#endif
return;
}
if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
// Inflight ACC Calibration
handleInflightCalibrationStickPosition();
return;
}
// Multiple configuration profiles
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) // ROLL left -> Profile 1
i = 1;
else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) // PITCH up -> Profile 2
i = 2;
else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) // ROLL right -> Profile 3
i = 3;
if (i) {
changePidProfile(i - 1);
return;
}
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_HI) {
saveConfigAndNotify();
}
if (isUsingSticksToArm) {
if (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
// Arm via YAW
tryArm();
return;
} else {
resetArmingDisabled();
}
}
if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
// Calibrating Acc
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
return;
}
if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) {
// Calibrating Mag
ENABLE_STATE(CALIBRATE_MAG);
return;
}
// Accelerometer Trim
rollAndPitchTrims_t accelerometerTrimsDelta;
memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta));
bool shouldApplyRollAndPitchTrimDelta = false;
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
accelerometerTrimsDelta.values.pitch = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
accelerometerTrimsDelta.values.pitch = -2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
accelerometerTrimsDelta.values.roll = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
accelerometerTrimsDelta.values.roll = -2;
shouldApplyRollAndPitchTrimDelta = true;
}
if (shouldApplyRollAndPitchTrimDelta) {
applyAndSaveAccelerometerTrimsDelta(&accelerometerTrimsDelta);
rcDelayCommand = 0; // allow autorepetition
return;
}
#ifdef USE_DASHBOARD
if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_LO) {
dashboardDisablePageCycling();
}
if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
dashboardEnablePageCycling();
}
#endif
#ifdef VTX_CONTROL
if (rcSticks == THR_HI + YAW_LO + PIT_CE + ROL_HI) {
vtxIncrementBand();
}
if (rcSticks == THR_HI + YAW_LO + PIT_CE + ROL_LO) {
vtxDecrementBand();
}
if (rcSticks == THR_HI + YAW_HI + PIT_CE + ROL_HI) {
vtxIncrementChannel();
}
if (rcSticks == THR_HI + YAW_HI + PIT_CE + ROL_LO) {
vtxDecrementChannel();
}
#endif
}
void subTaskMainSubprocesses(void)
{
const uint32_t startTime = micros();
// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
if (gyro.temperature) {
gyro.temperature(&telemTemperature1);
}
#ifdef GTUNE
updateGtuneState();
#endif
#if defined(BARO) || defined(SONAR)
// FIXME outdated comments?
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
// this must be called here since applyAltHold directly manipulates rcCommands[]
updateRcCommands();
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
applyAltHold();
}
}
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
updateMagHold();
}
#endif
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
#ifndef USE_QUAD_MIXER_ONLY
#ifdef USE_SERVOS
&& !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && mixerConfig()->tri_unarmed_servo)
#endif
&& mixerConfig()->mixerMode != MIXER_AIRPLANE
&& mixerConfig()->mixerMode != MIXER_FLYING_WING
#endif
) {
rcCommand[YAW] = 0;
}
if (throttleCorrectionConfig()->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value);
}
processRcCommand();
#ifdef GPS
if (sensors(SENSOR_GPS)) {
if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
updateGpsStateForHomeAndHoldMode();
}
}
#endif
#ifdef USE_SDCARD
afatfs_poll();
#endif
#ifdef BLACKBOX
if (!cliMode && feature(FEATURE_BLACKBOX)) {
handleBlackbox();
}
#endif
if (debugMode == DEBUG_PIDLOOP) {debug[1] = micros() - startTime;}
}
